Walking Equation Help

I am new here and i am a java programer and i needed a physics equation. I need to get an equation that can allow a robot to calculate how to get from point a to b the best way. I have been thinking of something like that but keep drawing blanks. Any help

It is a straight path for 50 feet. The equation is meant to find figure out how big the steps have to be so it doesn't fall forward or something other than that there is not going to be a sudden unexcpected force accting on the robot.

That's too ambitious kura_kai to be handled by a simple Java program. There are two things you can consider to drastically improve you robot design: 1. use the reactive agent architecture instead of symbolic reasoning (or at least hybrid), 2. Incorporate some form of learning to your robot, so that the latter itself decides which are the most optimal movements and step sizes. Sth like reinforcement learning.
Good luck!

Besides, to make the robot deal with dynamic environments, or ones with bumps, map percepts directly to actions with priorities without trying to calculate the coordinates. You could put for example a radio wave signal at the destination and make the robot move uphill the signal.